Publications and Preprints

Richard M. Murray

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Access to my publications and preprints is available through a simple search engine.   Click on the "list" button above to get a listing of all papers that are available or use the "search" button if you want to search by title, author, or keyword.  If you are having trouble accessing my papers, take a look at the frequently asked questions (FAQ) page.

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Recent Publications

Books

03/cds
Richard M. Murray, Ed., Control in an Information Rich World: Future Directions in Control, Dynamics, and Systems. SIAM, 2003 (to appear).
 
93/mls
R. M. Murray, Z. Li and S. S. Sastry, A Mathematical Introduction to Robotic Manipulation. CRC Press, 1993.

Journal articles

99h/wym99-automatica
Bifurcation Control of Rotating Stall with Actuator Magnitude and Rate Limits
Yong Wang, Simon Yeung, Richard Murray
Automatica 38(4):597-610 and 611-625, 2002
 
00c/fam00-gnc
Differentially Flat Systems with Inequality Constraints: An Approach to Real-Time Feasible Trajectory Generation
Nadim Faiz, Sunil Agrawal and Richard Murray
J. Guidance, Control, and Dynamics, Vol. 24, No. 2, pp. 219-227, 2001.
 
98c/ywm98-jpp
Evaluation of Bleed Valve Rate Requirements in Nonlinear Control of Rotating Stall
Simon Yeung, Yong Wang, and Richard Murray
J. Propulsion and Power, 16(5):781-791, 2000
 
00h/km00-ijnrc
Modelling Efficient Pisciform Swimming for Control
Scott D. Kelly and Richard M. Murray
International Journal of Robust and Nonlinear Control, 10(4):217-241, 2000
 
97f/lm97-gnc
Stabilization of a Pitch Axis Flight Control Experiment with Input Rate Saturation
Trygve Lauvdal and Richard M. Murray
Modeling, Identification and Control, 20(4):225-240, 1999
 
99g/lm99-siamrev
Configuration controllability of simple mechanical control systems
Andrew D. Lewis and Richard M. Murray
SIAM Review, 41(3):555-574, 1999
 
96n/rm97-ecc
Differential Flatness of Two One-Forms in Arbitrary Number of Variables
Muruhan Rathinam and Richard M. Murray
Systems and Control Letters, 36:317-326, 1999
 
97a/bm97-cds
Tracking for Fully Actuated Mechanical Systems: A Geometric Framework
Francesco Bullo and Richard M. Murray
Automatica 35: (1) 17-34, 1999
 
96l/nm96-ijrnc
Real Time Trajectory Generation for Differentially Flat Systems
Michiel J. van Nieuwstadt and Richard M. Murray
Int'l. J. Robust & Nonlinear Control8:(11) 995-1020, 1998
 
94d/nrm94-cdc
Differential Flatness and Absolute Equivalence of Nonlinear Control Systems
Michiel van Nieuwstadt, Muruhan Rathinam, Richard M. Murray
SIAM J. Control and Optimization, 36(4):1225-1239, 1998
 
96g/rm96-cdc
Configuration Flatness of Lagrangian Systems Underactuated by One Control
Muruhan Rathinam and Richard M. Murray
SIAM J. Control and Optimization, 36(1):164-179, 1998
 
96o/nm96-jgcd
Rapid Hover to Forward Flight Transitions for a Thrust Vectored Aircraft
Michiel J. van Nieuwstadt and Richard M. Murray
J. Guidance, Control, and Dynamics, 21(1):93-100, Jan-Feb 1998
 
95f/mur95-nolcos
Nonlinear Control of Mechanical Systems: A Lagrangian Perspective
Richard M. Murray
Annual Reviews in Control, v21, pp 31-45, 1997
 
95p/dbm95-cds
Active Control of an Axial Flow Compressor via Pulsed Air Injection
Raffaello D'Andrea, Robert L. Behnken, Richard M. Murray
J. Turbomachinery, 119(4):742-752, 1997
 
96j/lm96-scl
Decompositions for Control Systems on Manifolds with an Affine Connection
Andrew Lewis and Richard M. Murray
Systems & Control Letters 31:199-205, 1997
 
95o/tmdg95-cds
Numerically Efficient Robustness Analysis of Trajectory Tracking for Nonlinear Systems
J. E. Tierno, R. M. Murray, J. C. Doyle, I. M. Gregory
J. Guidance, Control, and Dynamics, 20(4):640-647, 1997
 
95h/mm95-cds
Exponential Stabilization of Driftless Nonlinear Control Systems using Homogeneous Feedback
Robert T. M'Closkey and Richard M. Murray
IEEE T. Automatic Control, 42(5):614-628, 1997
 
95l/lm95-cds
Configuration Controllability of Simple Mechanical Control Systems
Andrew D. Lewis and Richard M. Murray
SIAM J. Control and Optimization, 35(3):766-790, 1997
 
96t/bkmm96-arma
Nonholonomic Mechanical Systems with Symmetry
A. M. Bloch, P. S. Krishnaprasad, J. E. Marsden, R. M. Murray
Archive for Rational Mechanics and Analysis, 136(1):21-99, 1996
 
95r/sbhm95-cds
A Homotopy Algorithm for Approximating Geometric Distributions by Integrable Systems
Willem M. Sluis, Andzrej Banaszuk, John Hauser, Richard M. Murray
System and Control Letters, 27: (5) 285-291, 1996
 
94h/km94-cds
Geometric Phases and Robotic Locomotion
Scott D. Kelly and Richard M. Murray
J. Robotic Systems, 12(6):417-431, 1995
 
94o/lm94-cds
Variational Principles in Constrained Systems: Theory and Experiments
Andrew D. Lewis and Richard M. Murray
International Journal of Nonlinear Mechanics, 1995
 
93a/tms93-erl
Trajectory generation for the N-trailer problem using Goursat normal form
D. Tilbury, R. M. Murray and S. S. Sastry
IEEE T. Automatic Control, 40: (5) 802-819, 1995
 
94p/ljtm94-tra
A Motion Planner for Nonholonomic Robots
J-P. Laumond, P. E. Jacobs, M. Taix and R. M. Murray
IEEE T. Robotics and Automation, 10: (5) 577-593, 1994
 
94b/wal+95-tac
Stabilization of Trajectories for Systems with Nonholonomic Constraints
G. Walsh, D. Tilbury, S. Sastry, R. Murray, and J-P. Laumond
IEEE T. Automatic Control, 39: (1) 216-222, 1994
 
96e/tmw95-ijc
Nonholonomic control systems: from steering to stabilization with sinuoids
Andrew R. Teel, Richard M. Murray, Gregory C. Walsh
International Journal of Control 62(4):849-870, 1995
 
92i/mur92-cds
Nilpotent bases for a class of non-integrable distributions with applications to trajectory generation for nonholonomic systems
Richard M. Murray
Mathematics of Controls, Signals, and Systems, 7(1):58-75, 1994
 
93d/ms93-tac
Nonholonomic Motion Planning: Steering Using Sinusoids
Richard M. Murray and S. Shankar Sastry
IEEE T. Automatic Control, 38(5):700-716, 1993
 
92a/mdps92-smc
Control Primitives for Robot Systems
Richard M. Murray, D. Curtis Deno, Kristofer S. J. Pister, S. S. Sastry
IEEE T. Systems, Man, and Cybernetics, 1992

Richard Murray (murray@cds.caltech.edu)
Last modified: 31 Jul 2000

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